version: 66.06
glider: 139
mission: 8
dive: 812
start: 11 2 110 7 32 27
data:
$ID,139
$MISSION,8
$DIVE,812
$D_SURF,3
$D_FLARE,3
$D_TGT,450
$D_ABORT,600
$D_NO_BLEED,90
$D_BOOST,0
$D_FINISH,0
$D_PITCH,0
$D_SAFE,0
$D_CALL,0
$SURFACE_URGENCY,0
$SURFACE_URGENCY_TRY,0
$SURFACE_URGENCY_FORCE,0
$T_DIVE,190
$T_MISSION,220
$T_ABORT,1440
$T_TURN,225
$T_TURN_SAMPINT,4
$T_NO_W,120
$T_LOITER,0
$USE_BATHY,0
$USE_ICE,0
$ICE_FREEZE_MARGIN,0.30000001
$D_OFFGRID,100
$T_WATCHDOG,10
$RELAUNCH,1
$APOGEE_PITCH,-5
$MAX_BUOY,120
$COURSE_BIAS,0
$GLIDE_SLOPE,30
$SPEED_FACTOR,1
$RHO,1.027
$MASS,52108
$NAV_MODE,1
$FERRY_MAX,45
$KALMAN_USE,2
$HD_A,0.0038945
$HD_B,0.0099684997
$HD_C,2.576e-06
$HEADING,-1
$ESCAPE_HEADING,0
$ESCAPE_HEADING_DELTA,10
$FIX_MISSING_TIMEOUT,0
$TGT_DEFAULT_LAT,21.25
$TGT_DEFAULT_LON,-158
$TGT_AUTO_DEFAULT,0
$SM_CC,410
$N_FILEKB,8
$FILEMGR,0
$CALL_NDIVES,1
$COMM_SEQ,0
$KERMIT,0
$N_NOCOMM,1
$N_NOSURFACE,0
$UPLOAD_DIVES_MAX,-1
$CALL_TRIES,5
$CALL_WAIT,60
$CAPUPLOAD,0
$CAPMAXSIZE,100000
$HEAPDBG,0
$T_GPS,15
$N_GPS,20
$T_GPS_ALMANAC,0
$T_GPS_CHARGE,-2168529.8
$T_RSLEEP,3
$STROBE,0
$RAFOS_PEAK_OFFSET,1.5
$RAFOS_CORR_THRESH,60
$RAFOS_HIT_WINDOW,3600
$PITCH_MIN,435
$PITCH_MAX,3724
$C_PITCH,3050
$PITCH_DBAND,0.1
$PITCH_CNV,0.0046000001
$P_OVSHOOT,0.039999999
$PITCH_GAIN,16
$PITCH_TIMEOUT,16
$PITCH_AD_RATE,155
$PITCH_MAXERRORS,1
$PITCH_ADJ_GAIN,0.029999999
$PITCH_ADJ_DBAND,1
$ROLL_MIN,227
$ROLL_MAX,3931
$ROLL_DEG,40
$C_ROLL_DIVE,1450
$C_ROLL_CLIMB,1420
$HEAD_ERRBAND,10
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,25
$R_STBD_OVSHOOT,25
$ROLL_AD_RATE,350
$ROLL_MAXERRORS,2
$ROLL_ADJ_GAIN,0.029999999
$ROLL_ADJ_DBAND,1
$VBD_MIN,450
$VBD_MAX,3860
$C_VBD,2630
$VBD_DBAND,2
$VBD_CNV,-0.24529999
$VBD_TIMEOUT,720
$PITCH_VBD_SHIFT,0.0012300001
$VBD_PUMP_AD_RATE_SURFACE,4
$VBD_PUMP_AD_RATE_APOGEE,3
$VBD_BLEED_AD_RATE,8
$UNCOM_BLEED,20
$VBD_MAXERRORS,1
$CF8_MAXERRORS,20
$AH0_24V,91.800003
$AH0_10V,100
$MINV_24V,19
$MINV_10V,8
$FG_AHR_10V,0
$FG_AHR_24V,0
$PHONE_SUPPLY,2
$PRESSURE_YINT,-14.705256
$PRESSURE_SLOPE,0.000116328
$AD7714Ch0Gain,128
$TCM_PITCH_OFFSET,0
$TCM_ROLL_OFFSET,0
$COMPASS_USE,0
$ALTIM_BOTTOM_PING_RANGE,0
$ALTIM_TOP_PING_RANGE,0
$ALTIM_BOTTOM_TURN_MARGIN,30
$ALTIM_TOP_TURN_MARGIN,0
$ALTIM_TOP_MIN_OBSTACLE,1
$ALTIM_PING_DEPTH,100
$ALTIM_PING_DELTA,20
$ALTIM_FREQUENCY,13
$ALTIM_PULSE,3
$ALTIM_SENSITIVITY,3
$XPDR_VALID,6
$XPDR_INHIBIT,90
$INT_PRESSURE_SLOPE,0.0097660003
$INT_PRESSURE_YINT,-1.4
$DEEPGLIDER,0
$DEEPGLIDERMB,0
$MOTHERBOARD,4
$DEVICE1,2
$DEVICE2,20
$DEVICE3,35
$DEVICE4,-1
$DEVICE5,-1
$DEVICE6,-1
$LOGGERS,0
$LOGGERDEVICE1,-1
$LOGGERDEVICE2,-1
$COMPASS_DEVICE,33
$COMPASS2_DEVICE,-1
$PHONE_DEVICE,48
$GPS_DEVICE,32
$RAFOS_DEVICE,-1
$XPDR_DEVICE,24
$SIM_W,0
$SIM_PITCH,0
$SEABIRD_T_G,0.0043401681
$SEABIRD_T_H,0.00063043466
$SEABIRD_T_I,2.4021314e-05
$SEABIRD_T_J,2.5358199e-06
$SEABIRD_C_G,-9.8272314
$SEABIRD_C_H,1.0932546
$SEABIRD_C_I,-0.0012359815
$SEABIRD_C_J,0.00017717193
$GPS1,072438,2100.861,-15753.742,13,1.4,13,9.8
$_CALLS,2
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.79
$_SM_ANGLEo,-74.2
$GPS2,073207,2100.875,-15753.741,12,1.3,17,9.8
$SPEED_LIMITS,0.137,0.221
$TGT_NAME,D_WEST
$TGT_LATLONG,2108.334,-15802.064
$TGT_RADIUS,2000.000
$KALMAN_CONTROL,0.000,0.000
$KALMAN_X,0.0,0.0,0.0,0.0,0.0
$KALMAN_Y,0.0,0.0,0.0,0.0,0.0
$MHEAD_RNG_PITCHd_Wd,304.1,19937,-16.6,-7.895
$D_GRID,450
$GCHEAD,st_secs,pitch_ctl,vbd_ctl,depth,ob_vertv,data_pts,end_secs,pitch_secs,roll_secs,vbd_secs,vbd_i,gcphase,pitch_i,roll_i,pitch_ad,roll_ad,vbd_ad,pitch_retries,pitch_errors,roll_retries,roll_errors,vbd_retries,vbd_errors
$STATE,12,end surface,CONTROL_FINISHED_OK
$STATE,12,begin dive
$GC,15,-1.18,-116.8,0.0,0.0,0,81,0.00,0.00,-64.20,0.000,2,0.000,0.000,427,1520,2728,0,0,0,0,0,0
$GC,85,-1.18,-116.8,3.6,-3.4,12,115,12.55,2.28,-7.43,0.000,4,0.129,0.034,2785,2885,3109,0,0,0,0,0,0
$GC,168,-1.11,-116.8,18.9,-13.1,28,175,0.08,2.47,0.00,0.000,6,0.081,0.033,2805,1446,3110,0,0,0,0,0,0
$GC,377,-0.92,-116.8,47.2,-13.5,56,381,0.20,2.08,0.00,0.000,4,0.089,0.043,2847,233,3110,0,0,0,0,0,0
$GC,429,-0.85,-116.8,53.8,-12.5,59,435,0.00,2.00,0.00,0.000,6,0.000,0.018,2847,1515,3110,0,0,0,0,0,0
$GC,688,-0.79,-116.8,81.5,-10.1,80,692,0.15,2.22,0.00,0.000,4,0.091,0.044,2879,231,3111,0,0,0,0,0,0
$GC,737,-0.84,-116.8,85.7,-8.4,83,742,0.00,1.98,0.00,0.000,6,0.000,0.018,2880,1519,3111,0,0,0,0,0,0
$GC,1000,-0.91,-116.8,102.3,-6.0,104,1005,0.12,2.20,0.00,0.000,4,0.061,0.044,2830,231,3111,0,0,0,0,0,0
$GC,1053,-0.91,-116.8,107.1,-9.1,108,1058,0.10,2.00,0.00,0.000,6,0.100,0.018,2852,1525,3111,0,0,0,0,0,0
$GC,1320,-0.97,-116.8,129.5,-8.7,129,1324,0.00,2.20,0.00,0.000,4,0.000,0.042,2852,226,3111,0,0,0,0,0,0
$GC,1360,-1.03,-116.8,133.2,-9.2,132,1364,0.12,2.00,0.00,0.000,6,0.060,0.018,2802,1523,3112,0,0,0,0,0,0
$GC,1628,-0.99,-116.8,156.9,-8.4,153,1633,0.15,2.20,0.00,0.000,4,0.087,0.021,2836,2883,3112,0,0,0,0,0,0
$GC,1662,-1.12,-116.8,159.7,-7.0,155,1669,0.12,2.42,0.00,0.000,6,0.059,0.031,2788,1443,3112,0,0,0,0,0,0
$GC,1927,-1.04,-116.8,180.4,-9.0,176,1932,0.17,2.05,0.00,0.000,4,0.082,0.044,2827,235,3112,0,0,0,0,0,0
$GC,1968,-1.04,-116.8,184.8,-9.6,179,1972,0.00,2.00,0.00,0.000,6,0.000,0.019,2828,1538,3112,0,0,0,0,0,0
$GC,2242,-1.07,-116.8,206.8,-7.7,198,2246,0.00,2.15,0.00,0.000,4,0.000,0.021,2827,2879,3112,0,0,0,0,0,0
$GC,2298,-1.17,-116.8,211.2,-6.4,200,2303,0.15,2.38,0.00,0.000,6,0.051,0.030,2771,1449,3112,0,0,0,0,0,0
$GC,2619,-1.08,-116.8,237.5,-8.4,215,2623,0.20,2.08,0.00,0.000,4,0.080,0.044,2814,234,3111,0,0,0,0,0,0
$GC,2648,-1.08,-116.8,240.3,-8.3,216,2652,0.00,2.00,0.00,0.000,6,0.000,0.020,2815,1529,3111,0,0,0,0,0,0
$GC,2978,-1.08,-116.8,267.7,-8.5,232,2982,0.00,2.20,0.00,0.000,4,0.000,0.046,2815,239,3110,0,0,0,0,0,0
$GC,3001,-1.08,-116.8,270.0,-8.8,233,3005,0.00,1.95,0.00,0.000,6,0.000,0.021,2815,1503,3110,0,0,0,0,0,0
$GC,3334,-1.11,-116.8,292.9,-6.0,249,3335,0.00,0.00,0.00,0.000,6,0.000,0.000,2815,1513,3109,0,0,0,0,0,0
$GC,3659,-1.14,-116.8,313.0,-6.4,260,3663,0.00,2.17,0.00,0.000,4,0.000,0.049,2814,240,3107,0,0,0,0,0,0
$GC,3724,-1.14,-116.8,317.5,-6.6,261,3728,0.00,1.98,0.00,0.000,6,0.000,0.022,2814,1499,3106,0,0,0,0,0,0
$GC,4076,-1.19,-116.8,340.9,-7.4,270,4081,0.10,2.22,0.00,0.000,4,0.074,0.050,2777,232,3104,0,0,0,0,0,0
$GC,4133,-1.14,-116.8,346.5,-10.2,271,4137,0.12,1.92,0.00,0.000,6,0.091,0.023,2804,1454,3104,0,0,0,0,0,0
$GC,4454,-1.14,-116.8,373.7,-8.5,279,4458,0.00,2.10,0.00,0.000,4,0.000,0.051,2804,232,3102,0,0,0,0,0,0
$GC,4497,-1.14,-116.8,377.5,-8.4,280,4500,0.00,1.92,0.00,0.000,6,0.000,0.024,2804,1449,3102,0,0,0,0,0,0
$GC,4830,-1.18,-116.8,400.3,-6.8,288,4834,0.00,2.28,0.00,0.000,4,0.000,0.027,2805,2822,3099,0,0,0,0,0,0
$GC,4879,-1.28,-116.8,403.5,-6.1,289,4884,0.15,2.35,0.00,0.000,6,0.056,0.038,2755,1450,3099,0,0,0,0,0,0
$GC,5210,-1.19,-116.8,425.7,-6.2,297,5215,0.17,2.12,0.00,0.000,4,0.085,0.055,2791,230,3097,0,0,0,0,0,0
$GC,5268,-1.19,-116.8,428.9,-4.7,298,5272,0.00,1.98,0.00,0.000,6,0.000,0.025,2791,1444,3096,0,0,0,0,0,0
$GC,5587,-1.19,-116.8,444.8,-5.1,306,5591,0.00,2.28,0.00,0.000,4,0.000,0.028,2791,2832,3094,0,0,0,0,0,0
$GC,5615,-1.26,-116.8,446.4,-5.8,306,5620,0.00,2.38,0.00,0.000,6,0.000,0.041,2792,1449,3094,0,0,0,0,0,0
$STATE,5705,end dive,TARGET_DEPTH_EXCEEDED
$STATE,5705,begin apogee
$GC,5712,-0.31,0.0,452.3,6.5,309,5810,0.88,0.00,94.93,0.836,6,0.064,0.000,2981,1449,2630,0,0,0,0,0,0
$STATE,5811,end apogee,CONTROL_FINISHED_OK
$STATE,5811,begin climb
$GC,5814,1.18,116.8,454.5,0.0,311,5927,1.40,2.38,101.53,0.818,4,0.032,0.028,3312,2807,2152,0,0,0,0,0,0
$GC,5957,1.05,175.7,454.2,5.2,314,6015,0.17,2.45,52.05,0.799,6,0.100,0.041,3277,1419,1912,0,0,0,0,0,0
$GC,6355,0.90,175.7,421.9,8.7,324,6357,0.15,0.00,0.00,0.000,6,0.103,0.000,3248,1419,1903,0,0,0,0,0,0
$GC,6682,0.86,198.3,400.2,6.9,332,6706,0.00,2.38,19.08,0.761,4,0.000,0.029,3248,2802,1821,0,0,0,0,0,0
$GC,6718,0.82,206.7,397.2,7.5,332,6735,0.10,2.42,9.15,0.682,6,0.112,0.042,3229,1420,1787,0,0,0,0,0,0
$GC,7060,0.83,219.2,371.8,7.3,341,7077,0.00,2.38,11.90,0.716,4,0.000,0.029,3229,2810,1736,0,0,0,0,0,0
$GC,7099,0.91,239.4,368.9,7.0,341,7123,0.00,2.45,19.52,0.748,6,0.000,0.044,3229,1421,1653,0,0,0,0,0,0
$GC,7435,0.92,253.2,344.8,7.3,350,7454,0.00,2.12,12.82,0.710,4,0.000,0.058,3229,234,1596,0,0,0,0,0,0
$GC,7489,0.92,253.2,340.0,9.3,351,7492,0.00,1.95,0.00,0.000,6,0.000,0.028,3229,1417,1594,0,0,0,0,0,0
$GC,7813,1.00,285.2,317.1,6.4,359,7846,0.17,0.00,28.52,0.744,6,0.056,0.000,3277,1417,1466,0,0,0,0,0,0
$GC,8168,0.94,285.2,286.0,8.8,371,8170,0.10,0.00,0.00,0.000,6,0.107,0.000,3256,1418,1461,0,0,0,0,0,0
$GC,8474,0.95,295.0,262.6,7.5,386,8489,0.00,2.38,9.18,0.631,4,0.000,0.027,3256,2816,1425,0,0,0,0,0,0
$GC,8504,1.04,308.4,260.2,7.3,387,8524,0.00,2.45,13.30,0.662,6,0.000,0.041,3256,1419,1372,0,0,0,0,0,0
$GC,8853,1.08,308.4,231.6,8.4,404,8858,0.12,2.10,0.00,0.000,4,0.067,0.058,3293,231,1367,0,0,0,0,0,0
$GC,8914,0.97,308.4,225.2,9.9,406,8921,0.12,1.98,0.00,0.000,6,0.074,0.027,3263,1429,1365,0,0,0,0,0,0
$GC,9232,1.04,333.9,204.4,6.7,422,9261,0.00,2.35,22.42,0.648,4,0.000,0.025,3263,2808,1267,0,0,0,0,0,0
$GC,9290,1.18,354.6,200.0,7.0,424,9317,0.20,2.42,19.50,0.631,6,0.049,0.038,3321,1418,1183,0,0,0,0,0,0
$GC,9583,1.08,354.6,171.3,10.1,447,9588,0.17,2.08,0.00,0.000,4,0.089,0.053,3284,235,1180,0,0,0,0,0,0
$GC,9610,1.01,354.6,168.5,10.2,449,9614,0.00,1.95,0.00,0.000,6,0.000,0.025,3285,1432,1177,0,0,0,0,0,0
$GC,9879,1.02,365.0,147.0,7.4,470,9894,0.00,2.30,9.32,0.538,4,0.000,0.024,3285,2805,1141,0,0,0,0,0,0
$GC,9914,1.11,393.8,144.5,6.6,472,9951,0.00,2.42,25.92,0.594,6,0.000,0.038,3285,1413,1023,0,0,0,0,0,0
$GC,10203,1.15,393.8,117.4,9.4,495,10207,0.00,2.03,0.00,0.000,4,0.000,0.051,3285,236,1020,0,0,0,0,0,0
$GC,10249,1.15,393.8,112.4,10.9,498,10253,0.00,1.90,0.00,0.000,6,0.000,0.023,3285,1432,1018,0,0,0,0,0,0
$GC,10518,1.26,433.1,93.6,6.1,519,10558,0.17,2.30,33.58,0.553,4,0.051,0.021,3339,2803,862,0,0,0,0,0,0
$GC,10584,1.31,433.1,87.6,8.7,523,10590,0.00,2.40,0.00,0.000,6,0.000,0.036,3339,1417,862,0,0,0,0,0,0
$GC,10845,1.31,433.1,64.0,9.4,544,10849,0.00,2.03,0.00,0.000,4,0.000,0.049,3339,235,860,0,0,0,0,0,0
$GC,10889,1.26,433.1,59.5,10.7,547,10893,0.00,1.90,0.00,0.000,6,0.000,0.022,3339,1430,859,0,0,0,0,0,0
$GC,11159,1.26,433.1,34.7,9.3,568,11163,0.00,2.22,0.00,0.000,4,0.000,0.021,3339,2799,859,0,0,0,0,0,0
$GC,11191,1.35,433.1,31.6,8.9,570,11195,0.00,2.38,0.00,0.000,6,0.000,0.035,3339,1411,859,0,0,0,0,0,0
$GC,11456,1.35,433.1,7.1,9.5,628,11463,0.00,2.05,0.00,0.000,4,0.000,0.047,3339,231,859,0,0,0,0,0,0
$GC,11472,1.35,433.1,5.8,8.4,630,11479,0.00,1.90,0.00,0.000,6,0.000,0.021,3339,1429,858,0,0,0,0,0,0
$STATE,11497,end climb,SURFACE_DEPTH_REACHED
$STATE,11497,begin surface coast
$FINISH,0.9,1.023222
$STATE,11528,end surface coast,CONTROL_FINISHED_OK
$STATE,11528,begin surface
$SM_CCo,11613,0.00,0.000,0,0,855,435.41
$SM_GC,1.66,12.55,0.00,0.00,0.026,0.000,0.000,429,1429,855,-11.98,-0.59,435.41
$IRIDIUM_FIX,2052.52,-15749.62,270100,060613
$TT8_MAMPS,0.028379
$HUMID,64.53
$INTERNAL_PRESSURE,9.23518
$TCM_TEMP,20.10
$XPDR_PINGS,1
$24V_AH,23.3,78.742
$10V_AH,10.0,63.044
$FG_AHR_24Vo,0.000
$FG_AHR_10Vo,0.000
$DEVICES,Pitch_motor,Roll_motor,VBD_pump_during_apogee,VBD_pump_during_surface,VBD_valve,Iridium_during_init,Iridium_during_connect,Iridium_during_xfer,Transponder_ping,GUMSTIX_24V,GPS,TT8,LPSleep,TT8_Active,TT8_Sampling,TT8_CF8,TT8_Kalman,Analog_circuits,GPS_charging,Compass,RAFOS,Transponder,Compass2
$DEVICE_SECS,31.000,130.600,482.725,0.000,0.000,62.077,66.014,135.499,4.750,0.000,17.328,1265.401,7789.292,484.988,1915.382,607.848,0.000,1398.265,0.000,1893.061,0.000,29.263,0.000
$DEVICE_MAMPS,128.856,57.525,836.030,0.000,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,431.708,412.625,905.150,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$MEM,355772
$DATA_FILE_SIZE,34913,642
$CAP_FILE_SIZE,132421,0
$CFSIZE,260165632,168083456
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,021110,104707,2101.018,-15754.249,31,0.9,31,9.8